aboutsummaryrefslogtreecommitdiffstats
path: root/drivers/iio/imu
diff options
context:
space:
mode:
Diffstat (limited to 'drivers/iio/imu')
-rw-r--r--drivers/iio/imu/adis16400.c72
-rw-r--r--drivers/iio/imu/adis16460.c25
-rw-r--r--drivers/iio/imu/adis16475.c18
-rw-r--r--drivers/iio/imu/adis16480.c55
-rw-r--r--drivers/iio/imu/adis_buffer.c76
-rw-r--r--drivers/iio/imu/adis_trigger.c60
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h12
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c14
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h6
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c42
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c134
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c2
12 files changed, 197 insertions, 319 deletions
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index 1ebe3e50d3e6..54af2ed664f6 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -173,6 +173,8 @@ struct adis16400_chip_info {
* @variant: chip variant info
* @filt_int: integer part of requested filter frequency
* @adis: adis device
+ * @avail_scan_mask: NULL terminated array of bitmaps of channels
+ * that must be enabled together
**/
struct adis16400_state {
struct adis16400_chip_info *variant;
@@ -317,11 +319,6 @@ enum adis16400_chip_variant {
ADIS16448,
};
-static struct adis_burst adis16400_burst = {
- .en = true,
- .reg_cmd = ADIS16400_GLOB_CMD,
-};
-
static int adis16334_get_freq(struct adis16400_state *st)
{
int ret;
@@ -947,7 +944,7 @@ static const char * const adis16400_status_error_msgs[] = {
[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
};
-#define ADIS16400_DATA(_timeouts) \
+#define ADIS16400_DATA(_timeouts, _burst_len) \
{ \
.msc_ctrl_reg = ADIS16400_MSC_CTRL, \
.glob_cmd_reg = ADIS16400_GLOB_CMD, \
@@ -973,6 +970,8 @@ static const char * const adis16400_status_error_msgs[] = {
BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
.timeouts = (_timeouts), \
+ .burst_reg_cmd = ADIS16400_GLOB_CMD, \
+ .burst_len = (_burst_len) \
}
static const struct adis_timeout adis16300_timeouts = {
@@ -1023,7 +1022,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16300_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
},
[ADIS16334] = {
.channels = adis16334_channels,
@@ -1036,7 +1035,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .adis_data = ADIS16400_DATA(&adis16334_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
},
[ADIS16350] = {
.channels = adis16350_channels,
@@ -1048,7 +1047,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16300_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
},
[ADIS16360] = {
.channels = adis16350_channels,
@@ -1061,7 +1060,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16300_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
},
[ADIS16362] = {
.channels = adis16350_channels,
@@ -1074,7 +1073,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16362_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
},
[ADIS16364] = {
.channels = adis16350_channels,
@@ -1087,7 +1086,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16362_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
},
[ADIS16367] = {
.channels = adis16350_channels,
@@ -1100,7 +1099,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16300_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
},
[ADIS16400] = {
.channels = adis16400_channels,
@@ -1112,7 +1111,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .adis_data = ADIS16400_DATA(&adis16400_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
},
[ADIS16445] = {
.channels = adis16445_channels,
@@ -1126,7 +1125,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .adis_data = ADIS16400_DATA(&adis16445_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
},
[ADIS16448] = {
.channels = adis16448_channels,
@@ -1140,7 +1139,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .adis_data = ADIS16400_DATA(&adis16448_timeouts),
+ .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
}
};
@@ -1164,6 +1163,12 @@ static void adis16400_setup_chan_mask(struct adis16400_state *st)
st->avail_scan_mask[0] |= BIT(ch->scan_index);
}
}
+
+static void adis16400_stop(void *data)
+{
+ adis16400_stop_device(data);
+}
+
static int adis16400_probe(struct spi_device *spi)
{
struct adis16400_state *st;
@@ -1190,9 +1195,6 @@ static int adis16400_probe(struct spi_device *spi)
if (!(st->variant->flags & ADIS16400_NO_BURST)) {
adis16400_setup_chan_mask(st);
indio_dev->available_scan_masks = st->avail_scan_mask;
- st->adis.burst = &adis16400_burst;
- if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
- st->adis.burst_extra_len = sizeof(u16);
}
adis16400_data = &st->variant->adis_data;
@@ -1201,37 +1203,24 @@ static int adis16400_probe(struct spi_device *spi)
if (ret)
return ret;
- ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
- adis16400_trigger_handler);
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
if (ret)
return ret;
/* Get the device into a sane initial state */
ret = adis16400_initial_setup(indio_dev);
if (ret)
- goto error_cleanup_buffer;
- ret = iio_device_register(indio_dev);
- if (ret)
- goto error_cleanup_buffer;
-
- adis16400_debugfs_init(indio_dev);
- return 0;
-
-error_cleanup_buffer:
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
- return ret;
-}
-
-static int adis16400_remove(struct spi_device *spi)
-{
- struct iio_dev *indio_dev = spi_get_drvdata(spi);
- struct adis16400_state *st = iio_priv(indio_dev);
+ return ret;
- iio_device_unregister(indio_dev);
- adis16400_stop_device(indio_dev);
+ ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
+ if (ret)
+ return ret;
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
+ if (ret)
+ return ret;
+ adis16400_debugfs_init(indio_dev);
return 0;
}
@@ -1261,7 +1250,6 @@ static struct spi_driver adis16400_driver = {
},
.id_table = adis16400_id,
.probe = adis16400_probe,
- .remove = adis16400_remove,
};
module_spi_driver(adis16400_driver);
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
index b26a5f1bc51a..74a161e39733 100644
--- a/drivers/iio/imu/adis16460.c
+++ b/drivers/iio/imu/adis16460.c
@@ -403,7 +403,7 @@ static int adis16460_probe(struct spi_device *spi)
if (ret)
return ret;
- ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
if (ret)
return ret;
@@ -411,31 +411,15 @@ static int adis16460_probe(struct spi_device *spi)
ret = __adis_initial_startup(&st->adis);
if (ret)
- goto error_cleanup_buffer;
+ return ret;
- ret = iio_device_register(indio_dev);
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
if (ret)
- goto error_cleanup_buffer;
+ return ret;
adis16460_debugfs_init(indio_dev);
return 0;
-
-error_cleanup_buffer:
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
- return ret;
-}
-
-static int adis16460_remove(struct spi_device *spi)
-{
- struct iio_dev *indio_dev = spi_get_drvdata(spi);
- struct adis16460 *st = iio_priv(indio_dev);
-
- iio_device_unregister(indio_dev);
-
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
-
- return 0;
}
static const struct spi_device_id adis16460_ids[] = {
@@ -457,7 +441,6 @@ static struct spi_driver adis16460_driver = {
},
.id_table = adis16460_ids,
.probe = adis16460_probe,
- .remove = adis16460_remove,
};
module_spi_driver(adis16460_driver);
diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 35d10ccb66c2..197d48240991 100644
--- a/drivers/iio/imu/adis16475.c
+++ b/drivers/iio/imu/adis16475.c
@@ -565,6 +565,9 @@ static int adis16475_enable_irq(struct adis *adis, bool enable)
BIT(ADIS16475_DIAG_STAT_CLK), \
.enable_irq = adis16475_enable_irq, \
.timeouts = (_timeouts), \
+ .burst_reg_cmd = ADIS16475_REG_GLOB_CMD, \
+ .burst_len = ADIS16475_BURST_MAX_DATA, \
+ .burst_max_len = ADIS16475_BURST32_MAX_DATA \
}
static const struct adis16475_sync adis16475_sync_mode[] = {
@@ -910,20 +913,6 @@ static const struct iio_info adis16475_info = {
.debugfs_reg_access = adis_debugfs_reg_access,
};
-static struct adis_burst adis16475_burst = {
- .en = true,
- .reg_cmd = ADIS16475_REG_GLOB_CMD,
- /*
- * adis_update_scan_mode_burst() sets the burst length in respect with
- * the number of channels and allocates 16 bits for each. However,
- * adis1647x devices also need space for DIAG_STAT, DATA_CNTR or
- * TIME_STAMP (depending on the clock mode but for us these bytes are
- * don't care...) and CRC.
- */
- .extra_len = 3 * sizeof(u16),
- .burst_max_len = ADIS16475_BURST32_MAX_DATA,
-};
-
static bool adis16475_validate_crc(const u8 *buffer, u16 crc,
const bool burst32)
{
@@ -1279,7 +1268,6 @@ static int adis16475_probe(struct spi_device *spi)
st = iio_priv(indio_dev);
spi_set_drvdata(spi, indio_dev);
- st->adis.burst = &adis16475_burst;
st->info = device_get_match_data(&spi->dev);
if (!st->info)
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 1eb4f98076f1..dfe86c589325 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -1212,6 +1212,16 @@ static int adis16480_get_ext_clocks(struct adis16480 *st)
return 0;
}
+static void adis16480_stop(void *data)
+{
+ adis16480_stop_device(data);
+}
+
+static void adis16480_clk_disable(void *data)
+{
+ clk_disable_unprepare(data);
+}
+
static int adis16480_probe(struct spi_device *spi)
{
const struct spi_device_id *id = spi_get_device_id(spi);
@@ -1245,18 +1255,26 @@ static int adis16480_probe(struct spi_device *spi)
if (ret)
return ret;
+ ret = devm_add_action_or_reset(&spi->dev, adis16480_stop, indio_dev);
+ if (ret)
+ return ret;
+
ret = adis16480_config_irq_pin(spi->dev.of_node, st);
if (ret)
- goto error_stop_device;
+ return ret;
ret = adis16480_get_ext_clocks(st);
if (ret)
- goto error_stop_device;
+ return ret;
if (!IS_ERR_OR_NULL(st->ext_clk)) {
ret = adis16480_ext_clk_config(st, spi->dev.of_node, true);
if (ret)
- goto error_stop_device;
+ return ret;
+
+ ret = devm_add_action_or_reset(&spi->dev, adis16480_clk_disable, st->ext_clk);
+ if (ret)
+ return ret;
st->clk_freq = clk_get_rate(st->ext_clk);
st->clk_freq *= 1000; /* micro */
@@ -1264,39 +1282,17 @@ static int adis16480_probe(struct spi_device *spi)
st->clk_freq = st->chip_info->int_clk;
}
- ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
if (ret)
- goto error_clk_disable_unprepare;
+ return ret;
- ret = iio_device_register(indio_dev);
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
if (ret)
- goto error_cleanup_buffer;
+ return ret;
adis16480_debugfs_init(indio_dev);
return 0;
-
-error_cleanup_buffer:
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
-error_clk_disable_unprepare:
- clk_disable_unprepare(st->ext_clk);
-error_stop_device:
- adis16480_stop_device(indio_dev);
- return ret;
-}
-
-static int adis16480_remove(struct spi_device *spi)
-{
- struct iio_dev *indio_dev = spi_get_drvdata(spi);
- struct adis16480 *st = iio_priv(indio_dev);
-
- iio_device_unregister(indio_dev);
- adis16480_stop_device(indio_dev);
-
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
- clk_disable_unprepare(st->ext_clk);
-
- return 0;
}
static const struct spi_device_id adis16480_ids[] = {
@@ -1338,7 +1334,6 @@ static struct spi_driver adis16480_driver = {
},
.id_table = adis16480_ids,
.probe = adis16480_probe,
- .remove = adis16480_remove,
};
module_spi_driver(adis16480_driver);
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
index 5b4225ee09b9..ac354321f63a 100644
--- a/drivers/iio/imu/adis_buffer.c
+++ b/drivers/iio/imu/adis_buffer.c
@@ -26,12 +26,10 @@ static int adis_update_scan_mode_burst(struct iio_dev *indio_dev,
unsigned int burst_length, burst_max_length;
u8 *tx;
- /* All but the timestamp channel */
- burst_length = (indio_dev->num_channels - 1) * sizeof(u16);
- burst_length += adis->burst->extra_len + adis->burst_extra_len;
+ burst_length = adis->data->burst_len + adis->burst_extra_len;
- if (adis->burst->burst_max_len)
- burst_max_length = adis->burst->burst_max_len;
+ if (adis->data->burst_max_len)
+ burst_max_length = adis->data->burst_max_len;
else
burst_max_length = burst_length;
@@ -47,7 +45,7 @@ static int adis_update_scan_mode_burst(struct iio_dev *indio_dev,
}
tx = adis->buffer + burst_max_length;
- tx[0] = ADIS_READ_REG(adis->burst->reg_cmd);
+ tx[0] = ADIS_READ_REG(adis->data->burst_reg_cmd);
tx[1] = 0;
adis->xfer[0].tx_buf = tx;
@@ -76,7 +74,7 @@ int adis_update_scan_mode(struct iio_dev *indio_dev,
kfree(adis->xfer);
kfree(adis->buffer);
- if (adis->burst && adis->burst->en)
+ if (adis->data->burst_len)
return adis_update_scan_mode_burst(indio_dev, scan_mask);
scan_count = indio_dev->scan_bytes / 2;
@@ -170,48 +168,6 @@ static void adis_buffer_cleanup(void *arg)
}
/**
- * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device
- * @adis: The adis device.
- * @indio_dev: The IIO device.
- * @trigger_handler: Optional trigger handler, may be NULL.
- *
- * Returns 0 on success, a negative error code otherwise.
- *
- * This function sets up the buffer and trigger for a adis devices. If
- * 'trigger_handler' is NULL the default trigger handler will be used. The
- * default trigger handler will simply read the registers assigned to the
- * currently active channels.
- *
- * adis_cleanup_buffer_and_trigger() should be called to free the resources
- * allocated by this function.
- */
-int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
- irqreturn_t (*trigger_handler)(int, void *))
-{
- int ret;
-
- if (!trigger_handler)
- trigger_handler = adis_trigger_handler;
-
- ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
- trigger_handler, NULL);
- if (ret)
- return ret;
-
- if (adis->spi->irq) {
- ret = adis_probe_trigger(adis, indio_dev);
- if (ret)
- goto error_buffer_cleanup;
- }
- return 0;
-
-error_buffer_cleanup:
- iio_triggered_buffer_cleanup(indio_dev);
- return ret;
-}
-EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger);
-
-/**
* devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for
* the managed adis device
* @adis: The adis device
@@ -220,7 +176,10 @@ EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger);
*
* Returns 0 on success, a negative error code otherwise.
*
- * This function perfoms exactly the same as adis_setup_buffer_and_trigger()
+ * This function sets up the buffer and trigger for a adis devices. If
+ * 'trigger_handler' is NULL the default trigger handler will be used. The
+ * default trigger handler will simply read the registers assigned to the
+ * currently active channels.
*/
int
devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
@@ -248,20 +207,3 @@ devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
}
EXPORT_SYMBOL_GPL(devm_adis_setup_buffer_and_trigger);
-/**
- * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources
- * @adis: The adis device.
- * @indio_dev: The IIO device.
- *
- * Frees resources allocated by adis_setup_buffer_and_trigger()
- */
-void adis_cleanup_buffer_and_trigger(struct adis *adis,
- struct iio_dev *indio_dev)
-{
- if (adis->spi->irq)
- adis_remove_trigger(adis);
- kfree(adis->buffer);
- kfree(adis->xfer);
- iio_triggered_buffer_cleanup(indio_dev);
-}
-EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger);
diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c
index 8afe71947c00..64e0ba51cb18 100644
--- a/drivers/iio/imu/adis_trigger.c
+++ b/drivers/iio/imu/adis_trigger.c
@@ -55,53 +55,6 @@ static int adis_validate_irq_flag(struct adis *adis)
return 0;
}
-/**
- * adis_probe_trigger() - Sets up trigger for a adis device
- * @adis: The adis device
- * @indio_dev: The IIO device
- *
- * Returns 0 on success or a negative error code
- *
- * adis_remove_trigger() should be used to free the trigger.
- */
-int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev)
-{
- int ret;
-
- adis->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name,
- indio_dev->id);
- if (adis->trig == NULL)
- return -ENOMEM;
-
- adis_trigger_setup(adis);
-
- ret = adis_validate_irq_flag(adis);
- if (ret)
- return ret;
-
- ret = request_irq(adis->spi->irq,
- &iio_trigger_generic_data_rdy_poll,
- adis->irq_flag,
- indio_dev->name,
- adis->trig);
- if (ret)
- goto error_free_trig;
-
- ret = iio_trigger_register(adis->trig);
-
- indio_dev->trig = iio_trigger_get(adis->trig);
- if (ret)
- goto error_free_irq;
-
- return 0;
-
-error_free_irq:
- free_irq(adis->spi->irq, adis->trig);
-error_free_trig:
- iio_trigger_free(adis->trig);
- return ret;
-}
-EXPORT_SYMBOL_GPL(adis_probe_trigger);
/**
* devm_adis_probe_trigger() - Sets up trigger for a managed adis device
@@ -137,16 +90,3 @@ int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev)
}
EXPORT_SYMBOL_GPL(devm_adis_probe_trigger);
-/**
- * adis_remove_trigger() - Remove trigger for a adis devices
- * @adis: The adis device
- *
- * Removes the trigger previously registered with adis_probe_trigger().
- */
-void adis_remove_trigger(struct adis *adis)
-{
- iio_trigger_unregister(adis->trig);
- free_irq(adis->spi->irq, adis->trig);
- iio_trigger_free(adis->trig);
-}
-EXPORT_SYMBOL_GPL(adis_remove_trigger);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index cd38b3fccc7b..eb522b38acf3 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -122,6 +122,13 @@ struct inv_mpu6050_chip_config {
u8 user_ctrl;
};
+/*
+ * Maximum of 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8.
+ * May be less if fewer channels are enabled, as long as the timestamp
+ * remains 8 byte aligned
+ */
+#define INV_MPU6050_OUTPUT_DATA_SIZE 32
+
/**
* struct inv_mpu6050_hw - Other important hardware information.
* @whoami: Self identification byte from WHO_AM_I register
@@ -165,6 +172,7 @@ struct inv_mpu6050_hw {
* @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
* @magn_orient: magnetometer sensor chip orientation if available.
* @suspended_sensors: sensors mask of sensors turned off for suspend
+ * @data: dma safe buffer used for bulk reads.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -190,6 +198,7 @@ struct inv_mpu6050_state {
s32 magn_raw_to_gauss[3];
struct iio_mount_matrix magn_orient;
unsigned int suspended_sensors;
+ u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] ____cacheline_aligned;
};
/*register and associated bit definition*/
@@ -334,9 +343,6 @@ struct inv_mpu6050_state {
#define INV_ICM20608_TEMP_OFFSET 8170
#define INV_ICM20608_TEMP_SCALE 3059976
-/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
-#define INV_MPU6050_OUTPUT_DATA_SIZE 32
-
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
#define INV_MPU6050_ACTIVE_HIGH 0x00
#define INV_MPU6050_ACTIVE_LOW 0x80
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index b533fa2dad0a..45c37525c2f1 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -13,7 +13,6 @@
#include <linux/interrupt.h>
#include <linux/poll.h>
#include <linux/math64.h>
-#include <asm/unaligned.h>
#include "inv_mpu_iio.h"
/**
@@ -121,7 +120,6 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
struct inv_mpu6050_state *st = iio_priv(indio_dev);
size_t bytes_per_datum;
int result;
- u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
u16 fifo_count;
s64 timestamp;
int int_status;
@@ -160,11 +158,11 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
* read fifo_count register to know how many bytes are inside the FIFO
* right now
*/
- result = regmap_bulk_read(st->map, st->reg->fifo_count_h, data,
- INV_MPU6050_FIFO_COUNT_BYTE);
+ result = regmap_bulk_read(st->map, st->reg->fifo_count_h,
+ st->data, INV_MPU6050_FIFO_COUNT_BYTE);
if (result)
goto end_session;
- fifo_count = get_unaligned_be16(&data[0]);
+ fifo_count = be16_to_cpup((__be16 *)&st->data[0]);
/*
* Handle fifo overflow by resetting fifo.
@@ -181,8 +179,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
nb = fifo_count / bytes_per_datum;
inv_mpu6050_update_period(st, pf->timestamp, nb);
for (i = 0; i < nb; ++i) {
- result = regmap_bulk_read(st->map, st->reg->fifo_r_w,
- data, bytes_per_datum);
+ result = regmap_noinc_read(st->map, st->reg->fifo_r_w,
+ st->data, bytes_per_datum);
if (result)
goto flush_fifo;
/* skip first samples if needed */
@@ -191,7 +189,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
continue;
}
timestamp = inv_mpu6050_get_timestamp(st);
- iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp);
+ iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);
}
end_session:
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index d80ba2e688ed..9275346a9cc1 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -383,6 +383,7 @@ struct st_lsm6dsx_sensor {
* @iio_devs: Pointers to acc/gyro iio_dev instances.
* @settings: Pointer to the specific sensor settings in use.
* @orientation: sensor chip orientation relative to main hardware.
+ * @scan: Temporary buffers used to align data before iio_push_to_buffers()
*/
struct st_lsm6dsx_hw {
struct device *dev;
@@ -411,6 +412,11 @@ struct st_lsm6dsx_hw {
const struct st_lsm6dsx_settings *settings;
struct iio_mount_matrix orientation;
+ /* Ensure natural alignment of buffer elements */
+ struct {
+ __le16 channels[3];
+ s64 ts __aligned(8);
+ } scan[3];
};
static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 7de10bd636ea..12ed0a2e55e4 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -353,9 +353,6 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
int err, sip, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
- u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
- u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
- u8 ext_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
bool reset_ts = false;
__le16 fifo_status;
s64 ts = 0;
@@ -416,19 +413,22 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) {
if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
- memcpy(gyro_buff, &hw->buff[offset],
- ST_LSM6DSX_SAMPLE_SIZE);
- offset += ST_LSM6DSX_SAMPLE_SIZE;
+ memcpy(hw->scan[ST_LSM6DSX_ID_GYRO].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels);
}
if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
- memcpy(acc_buff, &hw->buff[offset],
- ST_LSM6DSX_SAMPLE_SIZE);
- offset += ST_LSM6DSX_SAMPLE_SIZE;
+ memcpy(hw->scan[ST_LSM6DSX_ID_ACC].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels);
}
if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
- memcpy(ext_buff, &hw->buff[offset],
- ST_LSM6DSX_SAMPLE_SIZE);
- offset += ST_LSM6DSX_SAMPLE_SIZE;
+ memcpy(hw->scan[ST_LSM6DSX_ID_EXT0].channels,
+ &hw->buff[offset],
+ sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels));
+ offset += sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels);
}
if (ts_sip-- > 0) {
@@ -458,19 +458,22 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_GYRO],
- gyro_buff, gyro_sensor->ts_ref + ts);
+ &hw->scan[ST_LSM6DSX_ID_GYRO],
+ gyro_sensor->ts_ref + ts);
gyro_sip--;
}
if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_ACC],
- acc_buff, acc_sensor->ts_ref + ts);
+ &hw->scan[ST_LSM6DSX_ID_ACC],
+ acc_sensor->ts_ref + ts);
acc_sip--;
}
if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_EXT0],
- ext_buff, ext_sensor->ts_ref + ts);
+ &hw->scan[ST_LSM6DSX_ID_EXT0],
+ ext_sensor->ts_ref + ts);
ext_sip--;
}
sip++;
@@ -555,7 +558,14 @@ int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw)
{
u16 pattern_len = hw->sip * ST_LSM6DSX_TAGGED_SAMPLE_SIZE;
u16 fifo_len, fifo_diff_mask;
- u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE], tag;
+ /*
+ * Alignment needed as this can ultimately be passed to a
+ * call to iio_push_to_buffers_with_timestamp() which
+ * must be passed a buffer that is aligned to 8 bytes so
+ * as to allow insertion of a naturally aligned timestamp.
+ */
+ u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE] __aligned(8);
+ u8 tag;
bool reset_ts = false;
int i, err, read_len;
__le16 fifo_status;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 346c24281d26..42f485634d04 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -157,10 +157,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x20,
.mask = GENMASK(4, 3),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -169,9 +169,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(4, 3),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 3,
},
},
@@ -259,10 +259,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -270,10 +270,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -425,10 +425,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -436,10 +436,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -600,10 +600,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -611,10 +611,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -816,10 +816,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -827,10 +827,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -1021,10 +1021,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -1032,10 +1032,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -1200,10 +1200,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
- .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
- .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
- .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+ .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
+ .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+ .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+ .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
@@ -1211,10 +1211,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
- .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
- .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
- .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
- .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+ .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
+ .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+ .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+ .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
@@ -1598,7 +1598,7 @@ static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = sensor->gain;
- ret = IIO_VAL_INT_PLUS_MICRO;
+ ret = IIO_VAL_INT_PLUS_NANO;
break;
default:
ret = -EINVAL;
@@ -1836,13 +1836,31 @@ static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
fs_table = &hw->settings->fs_table[sensor->id];
for (i = 0; i < fs_table->fs_len; i++)
- len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
+ len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
fs_table->fs_avl[i].gain);
buf[len - 1] = '\n';
return len;
}
+static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ case IIO_ACCEL:
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+ default:
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+}
+
static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
st_lsm6dsx_sysfs_scale_avail, NULL, 0);
@@ -1868,6 +1886,7 @@ static const struct iio_info st_lsm6dsx_acc_info = {
.read_event_config = st_lsm6dsx_read_event_config,
.write_event_config = st_lsm6dsx_write_event_config,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+ .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};
static struct attribute *st_lsm6dsx_gyro_attributes[] = {
@@ -1885,6 +1904,7 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
.read_raw = st_lsm6dsx_read_raw,
.write_raw = st_lsm6dsx_write_raw,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+ .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};
static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index ed83471dc7dd..8c8d8870ca07 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -313,6 +313,8 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
err = st_lsm6dsx_shub_read_output(hw, data,
len & ST_LS6DSX_READ_OP_MASK);
+ if (err < 0)
+ return err;
st_lsm6dsx_shub_master_enable(sensor, false);
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.